Abstract
Aiming at the problem of positioning consistency and real-time performance during power inspection of unmanned aerial vehicles (UAV), this paper proposes an UAV positioning algorithm based on the secant slope characteristics of transmission lines. The traditional correlation scan matching (CSM) positioning method is prone to mismatch under the condition of a single geometric feature. Although the inertial measurement unit (IMU) -aided CSM method improves the positioning accuracy, using the IMU for a long time to estimate the position is prone to cumulative errors and increases the computational cost to a certain extent. Our proposed method uses the least square polynomial curve fitting method to parametric reconstruction of the transmission line, which enhances the geometric characteristics of the transmission line and made up the missing part. The secant line of transmission line is extracted and its feature is parameterized to match with the reconstructed transmission line map, and the translation vector and rotation vector of UAV are estimated. Through multiple sets of experiments, it is proved that our algorithm is less than the CSM method and the IMU-aided CSM method in terms of average translation error, average rotation error, and positioning time. Our algorithm not only improves the positioning accuracy but also guarantees the real-time positioning requirements.
Highlights
In the power transmission line patrol operation and maintenance work, unmanned aerial vehicles (UAV) based patrol has significant application advantages, and the precise positioning technology of UAV is the basis of the realization of obstacle avoidance, navigation, path planning and other inspection functions
2) FEATURE MATCHING ALGORITHM BASED ON SECANT SLOPE Aiming at the high similarity of transmission line environment, if we only use inertial measurement unit (IMU) integral to estimate the position of UAV, there will be a large cumulative error of the UAV pose
The least square curve fitting method is used to parameterize the transmission line map, which enhances the geometric characteristics of the map model
Summary
In the power transmission line patrol operation and maintenance work, UAV based patrol has significant application advantages, and the precise positioning technology of UAV is the basis of the realization of obstacle avoidance, navigation, path planning and other inspection functions. The method has accumulated errors, which gradually increase with time, which eventually leads to positioning failure This method is usually used in combination with a signal-based positioning method or a laser scanning matching method to improve positioning accuracy. Liu et al.: UAV Positioning Algorithm Based on the Secant Slope Characteristics one of the key technologies for realizing geolocation This method has improved the accuracy after the real-time kinematic (RTK). We have improved the existing method and proposed an UAV positioning method based on the secant slope characteristics of transmission lines. 2) FEATURE MATCHING ALGORITHM BASED ON SECANT SLOPE Aiming at the high similarity of transmission line environment, if we only use IMU integral to estimate the position of UAV, there will be a large cumulative error of the UAV pose. The results show that the proposed method has higher accuracy and real-time performance
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